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<div class="title">SimControlPanel.h</div>  </div>
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<a href="../../d7/dab/_sim_control_panel_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#ifndef SIMCONTROLPANEL_H</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#define SIMCONTROLPANEL_H</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &lt;QMainWindow&gt;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &lt;thread&gt;</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d2/dc1/_simulator_parameters_8h.html">ControlParameters/SimulatorParameters.h</a>&quot;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d2/de7/_graphics3_d_8h.html">Graphics3D.h</a>&quot;</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d4/df6/_robot_interface_8h.html">RobotInterface.h</a>&quot;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d2/ded/_simulation_8h.html">Simulation.h</a>&quot;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;</div><div class="line"><a name="l00016"></a><span class="lineno"><a class="line" href="../../d7/dab/_sim_control_panel_8h.html#a84e698606ec3548e7f8cf2e9387162b5">   16</a></span>&#160;<span class="preprocessor">#define DEFAULT_TERRAIN_FILE &quot;/default-terrain.yaml&quot;</span></div><div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="../../d7/dab/_sim_control_panel_8h.html#a3c3ad9a240dfd4de8da2c87896dfd0a1">   17</a></span>&#160;<span class="preprocessor">#define DEFAULT_USER_FILE &quot;/default-user.yaml&quot;</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;</div><div class="line"><a name="l00019"></a><span class="lineno"><a class="line" href="../../dc/df0/namespace_ui.html">   19</a></span>&#160;<span class="keyword">namespace </span><a class="code" href="../../dc/df0/namespace_ui.html">Ui</a> {</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="keyword">class </span><a class="code" href="../../d1/d22/class_sim_control_panel.html">SimControlPanel</a>;</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;}</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;</div><div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="../../d1/d22/class_sim_control_panel.html">   23</a></span>&#160;<span class="keyword">class </span><a class="code" href="../../d1/d22/class_sim_control_panel.html">SimControlPanel</a> : <span class="keyword">public</span> QMainWindow {</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  Q_OBJECT</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160; <span class="keyword">public</span>:</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  <span class="keyword">explicit</span> <a class="code" href="../../d1/d22/class_sim_control_panel.html">SimControlPanel</a>(QWidget* parent = <span class="keyword">nullptr</span>);</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  ~<a class="code" href="../../d1/d22/class_sim_control_panel.html">SimControlPanel</a>();</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160; <span class="keyword">private</span> slots:</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  <span class="keywordtype">void</span> on_startButton_clicked();</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  <span class="keywordtype">void</span> on_stopButton_clicked();</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  <span class="keywordtype">void</span> on_joystickButton_clicked();</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  <span class="keywordtype">void</span> on_driverButton_clicked();</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  <span class="keywordtype">void</span> on_simulatorTable_cellChanged(<span class="keywordtype">int</span> row, <span class="keywordtype">int</span> column);</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  <span class="keywordtype">void</span> on_saveSimulatorButton_clicked();</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  <span class="keywordtype">void</span> on_loadSimulatorButton_clicked();</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keywordtype">void</span> on_robotTable_cellChanged(<span class="keywordtype">int</span> row, <span class="keywordtype">int</span> column);</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keywordtype">void</span> on_saveRobotButton_clicked();</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="keywordtype">void</span> on_loadRobotButton_clicked();</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keywordtype">void</span> on_goHomeButton_clicked();</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keywordtype">void</span> on_kickButton_clicked();</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="keywordtype">void</span> on_userControlTable_cellChanged(<span class="keywordtype">int</span> row, <span class="keywordtype">int</span> column);</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="keywordtype">void</span> on_saveUserButton_clicked();</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keywordtype">void</span> on_loadUserButton_clicked();</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <span class="keywordtype">void</span> on_setTerrainButton_clicked();</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="keywordtype">void</span> updateTerrainLabel();</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="keywordtype">void</span> loadSimulationParameters(<a class="code" href="../../da/dcf/class_simulator_control_parameters.html">SimulatorControlParameters</a>&amp; params);</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="keywordtype">void</span> loadRobotParameters(<a class="code" href="../../d0/d73/class_robot_control_parameters.html">RobotControlParameters</a>&amp; params);</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <span class="keywordtype">void</span> loadUserParameters(<a class="code" href="../../d8/d86/class_control_parameters.html">ControlParameters</a>&amp; params);</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; <span class="keyword">private</span>:</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="keywordtype">void</span> updateUiEnable();</div><div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="../../d1/d22/class_sim_control_panel.html#a4556e36b30c9bfee75444c17db695978">   73</a></span>&#160;  std::thread <a class="code" href="../../d1/d22/class_sim_control_panel.html#a4556e36b30c9bfee75444c17db695978">_simThread</a>;</div><div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="../../d1/d22/class_sim_control_panel.html#aba319814f4e1d9f0350828e38acaab7b">   74</a></span>&#160;  <span class="keywordtype">bool</span> _started = <span class="keyword">false</span>;</div><div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="../../d1/d22/class_sim_control_panel.html#ae99f7f71d3c008f892a22b42faad2a74">   75</a></span>&#160;  Ui::SimControlPanel* <a class="code" href="../../d1/d22/class_sim_control_panel.html#ae99f7f71d3c008f892a22b42faad2a74">ui</a>;</div><div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="../../d1/d22/class_sim_control_panel.html#ae1553a016715b4ffb99c2478de247623">   76</a></span>&#160;  <a class="code" href="../../dd/d14/class_simulation.html">Simulation</a>* _simulation = <span class="keyword">nullptr</span>;</div><div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="../../d1/d22/class_sim_control_panel.html#afe0fc7cc7fd726d0aa663778aaee3fa4">   77</a></span>&#160;  <a class="code" href="../../d2/d31/class_periodic_task_manager.html">PeriodicTaskManager</a>* _interfaceTaskManager = <span class="keyword">nullptr</span>;</div><div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="../../d1/d22/class_sim_control_panel.html#a92985704a3b4103254f4a8387a0705dc">   78</a></span>&#160;  <a class="code" href="../../d6/d05/class_robot_interface.html">RobotInterface</a>* _robotInterface = <span class="keyword">nullptr</span>;</div><div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="../../d1/d22/class_sim_control_panel.html#a3544df10d412a1c4879a31dce140f9ec">   79</a></span>&#160;  <a class="code" href="../../de/d6f/class_graphics3_d.html">Graphics3D</a>* _graphicsWindow = <span class="keyword">nullptr</span>;</div><div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="../../d1/d22/class_sim_control_panel.html#a49a4c74791ccefa0e4055341f83ccd92">   80</a></span>&#160;  <a class="code" href="../../da/dcf/class_simulator_control_parameters.html">SimulatorControlParameters</a> <a class="code" href="../../d1/d22/class_sim_control_panel.html#a49a4c74791ccefa0e4055341f83ccd92">_parameters</a>;</div><div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="../../d1/d22/class_sim_control_panel.html#a0eb8e9cf0f5ac5ba224c30d6085fc66b">   81</a></span>&#160;  <a class="code" href="../../d8/d86/class_control_parameters.html">ControlParameters</a> <a class="code" href="../../d1/d22/class_sim_control_panel.html#a0eb8e9cf0f5ac5ba224c30d6085fc66b">_userParameters</a>;</div><div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="../../d1/d22/class_sim_control_panel.html#abf836cd5239f51a3ec820a769109938c">   82</a></span>&#160;  <span class="keywordtype">bool</span> _simulationMode = <span class="keyword">false</span>;</div><div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="../../d1/d22/class_sim_control_panel.html#a2028c73d7189e03428f085f87bf71c21">   83</a></span>&#160;  <span class="keywordtype">bool</span> _firstStart = <span class="keyword">true</span>;</div><div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="../../d1/d22/class_sim_control_panel.html#a742da7ea44b557634261c90268e0066a">   84</a></span>&#160;  <span class="keywordtype">bool</span> _ignoreTableCallbacks = <span class="keyword">false</span>;</div><div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="../../d1/d22/class_sim_control_panel.html#a8e2e46e62705f043140cb3ba5c20cb80">   85</a></span>&#160;  <span class="keywordtype">bool</span> _loadedUserSettings = <span class="keyword">false</span>;</div><div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="../../d1/d22/class_sim_control_panel.html#a997010d4f985f70cd9eef7b9e79b4ec7">   86</a></span>&#160;  std::string <a class="code" href="../../d1/d22/class_sim_control_panel.html#a997010d4f985f70cd9eef7b9e79b4ec7">_terrainFileName</a>;</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;};</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;<span class="preprocessor">#endif  // SIMCONTROLPANEL_H</span></div><div class="ttc" id="class_control_parameters_html"><div class="ttname"><a href="../../d8/d86/class_control_parameters.html">ControlParameters</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d2/d01/_control_parameters_8h_source.html#l00391">ControlParameters.h:391</a></div></div>
<div class="ttc" id="_simulation_8h_html"><div class="ttname"><a href="../../d2/ded/_simulation_8h.html">Simulation.h</a></div><div class="ttdoc">Main simulation class. </div></div>
<div class="ttc" id="namespace_ui_html"><div class="ttname"><a href="../../dc/df0/namespace_ui.html">Ui</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d7/dab/_sim_control_panel_8h_source.html#l00019">SimControlPanel.h:19</a></div></div>
<div class="ttc" id="class_sim_control_panel_html_a0eb8e9cf0f5ac5ba224c30d6085fc66b"><div class="ttname"><a href="../../d1/d22/class_sim_control_panel.html#a0eb8e9cf0f5ac5ba224c30d6085fc66b">SimControlPanel::_userParameters</a></div><div class="ttdeci">ControlParameters _userParameters</div><div class="ttdef"><b>Definition:</b> <a href="../../d7/dab/_sim_control_panel_8h_source.html#l00081">SimControlPanel.h:81</a></div></div>
<div class="ttc" id="class_graphics3_d_html"><div class="ttname"><a href="../../de/d6f/class_graphics3_d.html">Graphics3D</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d2/de7/_graphics3_d_8h_source.html#l00033">Graphics3D.h:33</a></div></div>
<div class="ttc" id="class_robot_control_parameters_html"><div class="ttname"><a href="../../d0/d73/class_robot_control_parameters.html">RobotControlParameters</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d53/_robot_parameters_8h_source.html#l00012">RobotParameters.h:12</a></div></div>
<div class="ttc" id="class_sim_control_panel_html_a49a4c74791ccefa0e4055341f83ccd92"><div class="ttname"><a href="../../d1/d22/class_sim_control_panel.html#a49a4c74791ccefa0e4055341f83ccd92">SimControlPanel::_parameters</a></div><div class="ttdeci">SimulatorControlParameters _parameters</div><div class="ttdef"><b>Definition:</b> <a href="../../d7/dab/_sim_control_panel_8h_source.html#l00080">SimControlPanel.h:80</a></div></div>
<div class="ttc" id="class_sim_control_panel_html_a4556e36b30c9bfee75444c17db695978"><div class="ttname"><a href="../../d1/d22/class_sim_control_panel.html#a4556e36b30c9bfee75444c17db695978">SimControlPanel::_simThread</a></div><div class="ttdeci">std::thread _simThread</div><div class="ttdef"><b>Definition:</b> <a href="../../d7/dab/_sim_control_panel_8h_source.html#l00073">SimControlPanel.h:73</a></div></div>
<div class="ttc" id="class_sim_control_panel_html"><div class="ttname"><a href="../../d1/d22/class_sim_control_panel.html">SimControlPanel</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d7/dab/_sim_control_panel_8h_source.html#l00023">SimControlPanel.h:23</a></div></div>
<div class="ttc" id="_simulator_parameters_8h_html"><div class="ttname"><a href="../../d2/dc1/_simulator_parameters_8h.html">SimulatorParameters.h</a></div></div>
<div class="ttc" id="class_sim_control_panel_html_ae99f7f71d3c008f892a22b42faad2a74"><div class="ttname"><a href="../../d1/d22/class_sim_control_panel.html#ae99f7f71d3c008f892a22b42faad2a74">SimControlPanel::ui</a></div><div class="ttdeci">Ui::SimControlPanel * ui</div><div class="ttdef"><b>Definition:</b> <a href="../../d7/dab/_sim_control_panel_8h_source.html#l00075">SimControlPanel.h:75</a></div></div>
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<div class="ttc" id="class_sim_control_panel_html_a997010d4f985f70cd9eef7b9e79b4ec7"><div class="ttname"><a href="../../d1/d22/class_sim_control_panel.html#a997010d4f985f70cd9eef7b9e79b4ec7">SimControlPanel::_terrainFileName</a></div><div class="ttdeci">std::string _terrainFileName</div><div class="ttdef"><b>Definition:</b> <a href="../../d7/dab/_sim_control_panel_8h_source.html#l00086">SimControlPanel.h:86</a></div></div>
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